[ompl-users] Genetic Search for optimal base pose for mobile manipulation

[Hemang C. <hem...@gm...>]

Hello,

I am trying to use the genetic search in OMPL to determine the optimal base
position of a mobile manipulator to reach a EE pose. The OMPL genetic
search is generally used to plan to a valid IK solution near the goal pose.
However, I wish to use the same to solve this optimization problem.

My initial idea is to modify the distanceGoal heuristic to compute the cost
function. And include the validity check within the same.

Could you please give any idea on how to proceed with this using the OMPL
Geneitc search or is that not a good way to approach this?

-- 
Regards,
Hemang Chawla